Balázs, Boldizsár and Vásárhelyi, Gábor (2018) Coordinated dense aerial traffic with self-driving drones. In: ICRA 2018, May 21-25, 2018, Brisbane, Australia.
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Abstract
In this paper we present a general, decentralized air traffic control solution using autonomous drones. We challenge some of the most difficult dense traffic situations, namely, crosswalk and package-delivery scenarios, where intelligent collective collision avoidance and motion planning is essential for a jam-free optimal traffic fiow. We build up a force based distributed multi-robot control model using a tunable selection of interaction terms: anisotropic repulsion, behaviour driven velocity alignment, self-organized queueing and conflict avoiding self-driving. We optimize the model with evolution in a realistic simulation framework and demonstrate its applicability with 30 autonomous drones in a coordinated outdoor flight within a densely packed virtual arena.
| Item Type: | Conference or Workshop Item (Paper) |
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| Subjects: | T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában |
| Depositing User: | Gábor Vásárhelyi |
| Date Deposited: | 12 Sep 2018 13:13 |
| Last Modified: | 12 Sep 2018 13:13 |
| URI: | http://real.mtak.hu/id/eprint/83676 |
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